Mitchell Hatfield
Component Test's Software to work with "Universal Controller Box" - Software is an interpreter or "compiler" for programs to be done with a .txt file and read off of the SD Card
Dependencies: BridgeDriver FrontPanelButtons MCP23017 SDFileSystem TextLCD mbed
Revision 0:22618cf06f45, committed 2014-09-16
- Comitter:
- mehatfie
- Date:
- Tue Sep 16 15:28:59 2014 +0000
- Child:
- 1:5731f31f96be
- Commit message:
- - Initial Commit; - Code is a mess (in mid transition of general code architecture); - Functionality work to drive motors in both direction and turn off; - Delay functionality working; - Able to read a program from a txt file and perform functionality
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BridgeDriver.lib Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jason701802/code/BridgeDriver/#397718f9300a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Device.cpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,15 @@
+/*#include "Device.hpp"
+#include "Motor.hpp"
+#include "VoltageDriver.hpp"
+
+Device* Device::newDevice(int deviceFound){
+
+ if(MOTOR)
+ return new Motor();
+ else if(VOLTAGE_DRIVER)
+ return new VoltageDriver();
+
+}
+
+ */
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Device.hpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,73 @@
+#ifndef DEVICE_HPP
+#define DEVICE_HPP
+
+#include "Initialization.hpp"
+#include "mbed.h"
+#include "LocalPinNames.h"
+#include "BridgeDriver.h"
+#include "DeviceClasses.h"
+//#include "Motor.hpp"
+//#include "VoltageDriver.hpp"
+
+enum DeviceType{MOTOR, VOLTAGE_DRIVER};
+static const enum DeviceType Device_Map[] = {MOTOR, VOLTAGE_DRIVER};
+const char *DeviceNames[] = {"MOTOR", "VOLTAGE_DRIVER"};
+extern int numDevices = sizeof(DeviceNames)/sizeof(DeviceNames[0]);
+extern int currNumDevices = 0;
+
+/*
+class Device{
+
+ public:
+ char name[100];
+ static Device* newDevice(int);
+ int interpret();
+};
+
+extern Device devices[15]; //Initialize array of devices, initially assume 15 devices will be used (will expand as needed)
+
+void addDevice(int deviceFound){
+
+ //devices[currNumDevices] = Device::newDevice(deviceFound);
+ currNumDevices++;
+}
+ */
+
+
+
+
+struct DeviceData {
+ DeviceType type;
+ char name[MAX_LINE_LENGTH];
+ union {
+ Voltage_Driver VOLTAGE_DRIVER;
+ Motor MOTOR;
+ };
+};
+
+extern struct DeviceData devices[15]; //Initialize array of devices, initially assume 15 devices will be used (will expand as needed)
+
+void relayLine(DeviceData device){
+ switch(device.type){
+ case MOTOR: device.MOTOR.interpret(); break;
+ case VOLTAGE_DRIVER: device.VOLTAGE_DRIVER.interpret(); break;
+ }
+}
+
+void addDevice(int deviceFound){
+
+ //Save the device type
+ switch (Device_Map[deviceFound]){
+ case MOTOR: devices[currNumDevices].type = MOTOR; break;
+ case VOLTAGE_DRIVER: devices[currNumDevices].type = VOLTAGE_DRIVER; break;
+ }
+
+ strcpy(devices[currNumDevices].name, lineData.word[1]); //Save the Local Name of the Device, the second word in a device adding line is the Local_Name
+ relayLine(devices[currNumDevices]); //Give the command to the appropraite class in order to initialize itself based on the line
+ currNumDevices++; //Increment the total number of devices created
+}
+
+
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DeviceClasses.h Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,394 @@
+/*#include "mbed.h"
+#include "LocalPinNames.h"
+#include "TextLCD.h"
+#include "BridgeDriver.h"
+*/
+#include "Device.hpp"
+
+
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+/*************************** <CLASS: Voltage_Driver> ****************************/
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+
+class Voltage_Driver{
+
+ public :
+ //uint8_t ch123; //Channel value this device is set to
+ int ch;
+ int test;
+
+ int interpret();
+ int forceBrake();
+ //int forceFloat();
+ float drive();
+
+ //Voltage_Driver();
+ void setChannel(int channel){
+ Voltage_Driver::ch = channel;
+ }
+
+ int getChannel(){
+ return Voltage_Driver::ch;
+ }
+};
+
+//Voltage_Driver::Voltage_Driver(void){
+//}
+
+//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+int Voltage_Driver::interpret(){
+ /*
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,3);
+ lcd.printf("Test2 ");
+ lcd.setAddress(0,1);
+ lcd.printf("wrd1: %s", lineData.word[0]);
+ lcd.setAddress(0,2);
+ lcd.printf("wrd2: %s", lineData.word[1]);
+ wait(3);
+*/
+
+
+ char *firstWord = lineData.word[0]; //get the first word in the line
+/*
+ lcd.setAddress(0,2);
+ lcd.printf("fW: %s", firstWord);
+ lcd.setAddress(0,3);
+ lcd.printf("ch: %d", ch);
+ wait(3);*/
+
+ //Initialize the class and device
+ if (strncmp(firstWord,"device", 6) == 0){
+ //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+
+ test = 10;
+
+ if (lineData.numWords != 4){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ char *channel = lineData.word[3]; //Parameter is a number
+ int channelValue = atoi(channel);
+
+ //Channel Value between 1 to 8
+ if (channelValue >= 1 && channelValue <= 8){
+
+ setChannel(channelValue);
+ //ch = channelValue;
+
+ lcd.setAddress(0,2);
+ lcd.printf("fW: %s", firstWord);
+ //lcd.setAddress(0,3);
+ //lcd.printf("ch: %d", getChannel());
+ lcd.setAddress(0,3);
+ lcd.printf("test: %d", test);
+ //lcd.setAddress(0,3);
+ //lcd.printf("chString: %s", chString);
+ wait(2);
+
+ switch (channelValue){
+ case 1:
+ case 2:
+ bridges.enablePwm(BridgeDriver::MOTOR_A, 0);
+ break;
+ case 3:
+ case 4:
+ bridges.enablePwm(BridgeDriver::MOTOR_B, 0);
+ break;
+ case 5:
+ case 6:
+ bridges.enablePwm(BridgeDriver::MOTOR_C, 0);
+ break;
+ case 7:
+ case 8:
+ bridges.enablePwm(BridgeDriver::MOTOR_D, 0);
+ break;
+ }
+ /* lcd.setAddress(0,2);
+ lcd.printf("AchannelVal: %d", channelValue);
+ lcd.setAddress(0,3);
+ lcd.printf("Ach: %d", ch);
+ wait(3);*/
+
+ }
+ else{
+ //ERROR Out
+ //Unacceptable channel, or conversion function failed when converting string to int
+ }
+ }
+
+ //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
+ else{
+
+
+
+ //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+ char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding
+ char *func = lineData.word[1];
+
+ /******************************************************************************/
+ /*** <Func: forceBrake> ***/
+ /******************************************************************************/
+ if (strncmp(func,"forceBrake", 10) == 0){
+
+ if (lineData.numWords != 3){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ bridges.forceBrake(ch);
+ }
+
+
+ /******************************************************************************/
+ /*** <Func: drive> ***/
+ /******************************************************************************/
+ else if (strncmp(func,"drive", 5) == 0){
+ //Order of Line: Local_Name, drive
+
+ lcd.setAddress(0,0);
+ lcd.printf("lclN: %s ", localname);
+ lcd.setAddress(0,2);
+ lcd.printf("func: %s ", func);
+ //lcd.setAddress(0,3);
+ //lcd.printf("3ch: %d ", getChannel());
+ lcd.setAddress(0,3);
+ lcd.printf("test: %d", test);
+ //lcd.setAddress(0,3);
+ //lcd.printf("chString: %s ", chString);
+ wait(3);
+
+ if (lineData.numWords != 2){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+ /*
+ int State = 2;
+ int channelValue = atoi(chString);
+ State = bridges.drive(channelValue, 1); //Turn channel on
+ lcd.setAddress(0,2);
+ lcd.printf("TEST ch: %d, State: %d", channelValue, State);
+ wait(3);*/
+
+ }
+
+
+ /******************************************************************************/
+ /**** <Func: off> ****/
+ /******************************************************************************/
+ else if (strncmp(func,"drive", 5) == 0){
+ //Order of Line: Local_Name, drive, duration
+
+ if (lineData.numWords != 2){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ bridges.drive(getChannel(), 0); //Turn channel off
+ }
+
+ else {
+ return 0;
+
+ }
+ }
+ /*
+ lcd.setAddress(0,3);
+ lcd.printf("ENDch: %d ", getChannel());
+ wait(3);*/
+
+ return 1;
+}
+
+
+
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+/******************************** <CLASS: Motor> ********************************/
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+
+class Motor{
+
+ enum BridgeDriver::Motors motor;
+
+ public :
+ int interpret();
+ void enableBrake();
+ int forceBrake();
+ //int forceFloat();
+ float drive();
+
+
+ void setMotor(BridgeDriver::Motors selectedMotor){
+ motor = selectedMotor;
+ }
+
+ enum BridgeDriver::Motors getMotor(){
+ return motor;
+ }
+
+};
+
+//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+int Motor::interpret(){
+ /*
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,3);
+ lcd.printf("Test2 ");
+ lcd.setAddress(0,1);
+ lcd.printf("wrd1: %s", lineData.word[0]);
+ lcd.setAddress(0,2);
+ lcd.printf("wrd2: %s", lineData.word[1]);
+ wait(3);
+*/
+
+ char *firstWord = lineData.word[0]; //splits the str based on a space delimeter
+
+ if (strncmp(firstWord,"device", 6) == 0){
+ //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+
+ if (lineData.numWords != 4){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ char channel = *lineData.word[3]; //Parameter is a single character, so dereference the point to the word
+
+ switch (channel){
+ case 'A':
+ case 'a':
+ setMotor(BridgeDriver::MOTOR_A);
+ break;
+ case 'B':
+ case 'b':
+ setMotor(BridgeDriver::MOTOR_B);
+ break;
+ case 'C':
+ case 'c':
+ setMotor(BridgeDriver::MOTOR_C);
+ break;
+ case 'D':
+ case 'd':
+ setMotor(BridgeDriver::MOTOR_D);
+ break;
+ }
+ }
+
+ //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
+ else{
+ //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+ char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding
+ char *func = lineData.word[1];
+
+ /******************************************************************************/
+ /*** <Func: enableBrake> ***/
+ /******************************************************************************/
+ if (strncmp(func,"enableBrake", 11) == 0){
+
+ if (lineData.numWords != 4){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ //Initialize and Convert Parameters
+ char *enable = lineData.word[2];
+ int enableValue = atoi(enable);
+
+ bridges.enableBraking(getMotor(), enableValue);
+ }
+
+ /******************************************************************************/
+ /*** <Func: forceBrake> ***/
+ /******************************************************************************/
+ else if (strncmp(func,"forceBrake", 10) == 0){
+
+ if (lineData.numWords != 3){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ bridges.forceBrake(getMotor());
+ }
+
+
+ /******************************************************************************/
+ /*** <Func: drive> ***/
+ /******************************************************************************/
+ else if (strncmp(func,"drive", 5) == 0){
+
+ if (lineData.numWords != 4){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ //Initialize Parameters
+ char *speed = lineData.word[2];
+ char *dir = lineData.word[3];
+
+ //Initialize Convertion Variables if needed
+ float speedValue;
+ int dirValue = 0;
+
+ //Convert string to usable values
+ //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
+ speedValue = atof(speed) / 100;
+
+ if (speedValue <= 0)
+ return 0; //Error Out because a value gives no functionality or is wrong
+
+ if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
+ dirValue = -1; //Turn Clockwise
+ else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
+ dirValue = 1; //Turn CounterClockwise
+ else
+ return 0; //Error Out since the parameter is incorrect
+
+ bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
+ }
+ /******************************************************************************/
+ /**** <Func: off> ****/
+ /******************************************************************************/
+ else if (strncmp(func,"off", 3) == 0){
+
+ if (lineData.numWords != 2){
+ //Error Check, incorrect number of parameter, error out
+ return 0;
+ }
+
+ bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+ }
+
+ else {
+ return 0;
+
+ }
+ }
+
+ return 1;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FrontPanelButtons.lib Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jason701802/code/FrontPanelButtons/#b2844843297f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Initialization.hpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,53 @@
+#ifndef INITIALIZATION_HPP
+#define INITIALIZATION_HPP
+
+#include "mbed.h"
+#include "LocalPinNames.h"
+#include "BridgeDriver.h"
+#include "FrontPanelButtons.h"
+#include "TextLCD.h"
+#include "SDFileSystem.h"
+
+//Initializations
+Timer timer; // general purpose timer
+I2C i2c( P0_10, P0_11 ); // I2C bus (SDA, SCL)
+BridgeDriver bridges(&i2c, 1); // Bridge
+TextLCD_I2C lcd( &i2c, MCP23008_SA0, TextLCD::LCD20x4 ); // LCD
+SDFileSystem sd(P0_18, P0_17, P0_15, P0_16, "sd"); // the pinout on the mbed LPC1768
+
+DigitalIn killSw(KILL);
+
+extern const int MAX_LINE_LENGTH = 100;
+
+void initLCD(void);
+
+void fullInit() {
+
+ killSw.mode(PullUp);
+ initLCD();
+}
+
+void initLCD(void) {
+
+ i2c.frequency(1000000);
+ lcd.setBacklight(TextLCD::LightOn);
+ wait(.6);
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,0);
+ lcd.printf("LCD Initialized");
+}
+
+
+struct Line{
+
+ char *fullLine; //full line, starting from the beginning
+ char *currPartLine; //current line, meaning that it only knows whatever has not been used in the line
+ int lineNumber; //current line number in the program txt file that is running
+ char word[15][MAX_LINE_LENGTH]; //array of words from the line of text, assuming no more than 15 words will be in any given line
+ //in this initialization there are 15 string (pointers) of size MAX_LINE_LENGTH each
+ int numWords; //Number of words in the given line
+};
+
+extern struct Line lineData;
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LocalPinNames.h Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,36 @@ +#ifndef LOCALPINNAMES_H + +#define LOCALPINNAMES_H + + /* local name, resouce name */ +#define DIO0 P2_2 +#define DIO1 P2_3 +#define DIO2 P2_4 +#define DIO3 P2_5 +#define DIO4 P2_6 +#define DIO5 P2_7 +#define DIO6 P2_8 +#define DIO7 P2_9 +#define DIO8 P1_1 +#define DIO9 P1_4 +#define DIO10 P1_8 +#define DIO11 P1_9 +#define SS1 P0_19 +#define SS2 P0_20 +#define SS3 P0_21 +#define SS4 P0_22 +#define SS_ADC P1_0 +#define AI0 P0_23 +#define AI1 P0_24 +#define AI2 P0_25 +#define AI3 P0_26 +#define AI4 P1_30 +#define AI5 P1_31 +#define KILL P2_11 +#define CAN1_RX P0_0 +#define CAN1_TX P0_1 +#define CAN2_RX P0_4 +#define CAN2_TX P0_5 + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MCP23017.lib Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wim/code/MCP23017/#5696b886a895
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,181 @@
+//#include "Motor.hpp"
+//#include "mbed.h"
+//#include "LocalPinNames.h"
+//#include "BridgeDriver.h"
+//
+////Constructor
+//Motor::Motor(){
+// /*
+// //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+// if (lineData.numWords != 4){
+// //Error Check, incorrect number of parameter, error out
+// //return 0;
+// }*/
+//
+// char channel = *lineData.word[3]; //Parameter is a single character, so dereference the point to the word
+//
+// switch (channel){
+// case 'A':
+// case 'a':
+// this->motor = BridgeDriver::MOTOR_A;
+// break;
+// case 'B':
+// case 'b':
+// this->motor = BridgeDriver::MOTOR_B;
+// break;
+// case 'C':
+// case 'c':
+// this->motor = BridgeDriver::MOTOR_C;
+// break;
+// case 'D':
+// case 'd':
+// this->motor = BridgeDriver::MOTOR_D;
+// break;
+// }
+//}
+//
+//
+//enum BridgeDriver::Motors Motor::getMotor(){
+// return this->motor;
+//}
+//
+////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+//int Motor::interpret(){
+//
+//
+// //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+// char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding
+// char *func = lineData.word[1];
+//
+// /******************************************************************************/
+// /*** <Func: enableBrake> ***/
+// /******************************************************************************/
+// if (strncmp(func,"enableBrake", 11) == 0){
+//
+// if (lineData.numWords != 4){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// //Initialize and Convert Parameters
+// char *enable = lineData.word[2];
+// int enableValue = atoi(enable);
+//
+// bridges.enableBraking(getMotor(), enableValue);
+// }
+//
+// /******************************************************************************/
+// /*** <Func: forceBrake> ***/
+// /******************************************************************************/
+// else if (strncmp(func,"forceBrake", 10) == 0){
+//
+// if (lineData.numWords != 3){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.forceBrake(getMotor());
+// }
+//
+//
+// /******************************************************************************/
+// /*** <Func: drive> ***/
+// /******************************************************************************/
+//
+//
+// /******************************************************************************/
+// /**** <Func: off> ****/
+// /******************************************************************************/
+// else if (strncmp(func,"off", 3) == 0){
+//
+// if (lineData.numWords != 2){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+// }
+//
+// else {
+// return 0;
+//
+// }
+//
+//
+// return 1;
+//}
+//
+//
+//
+//
+//
+//
+//
+///*
+//int Motor::enableBrake(){
+//
+// if (lineData.numWords != 4){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// //Initialize and Convert Parameters
+// char *enable = lineData.word[2];
+// int enableValue = atoi(enable);
+//
+// //If the atoi returned anything besides 0, it worked properly
+// if (enableValue)
+// bridges.enableBraking(getMotor(), enableValue);
+// else{
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// return 1;
+//}
+//
+//int Motor::forceBrake(){
+//
+// if (lineData.numWords != 3){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.forceBrake(getMotor());
+//}
+//
+//int Motor::drive(){
+//
+// if (lineData.numWords != 4){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// //Initialize Parameters
+// char *speed = lineData.word[2];
+// char *dir = lineData.word[3];
+//
+// //Initialize Convertion Variables if needed
+// float speedValue;
+// int dirValue = 0;
+//
+// //Convert string to usable values
+// //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
+// speedValue = atof(speed) / 100;
+//
+// if (speedValue <= 0)
+// return 0; //Error Out because a value gives no functionality or is wrong
+//
+// if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
+// dirValue = -1; //Turn Clockwise
+// else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
+// dirValue = 1; //Turn CounterClockwise
+// else
+// return 0; //Error Out since the parameter is incorrect
+//
+// bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
+//}
+//*/
+//
+//
+//
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.hpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,21 @@
+//#ifndef MOTOR_HPP
+//#define MOTOR_HPP
+//
+//#include "Device.hpp"
+//
+//class Motor: public Device{
+//
+// private:
+// enum BridgeDriver::Motors motor;
+//
+// public:
+// Motor();
+// int interpret();
+// enum BridgeDriver::Motors getMotor();
+// //void enableBrake();
+// //int forceBrake();
+// //int forceFloat();
+// //float drive();
+//};
+//
+//#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#7b35d1709458
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TextFile.h Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,119 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "SDFileSystem.h"
+#include <stdio.h>
+#include <string>
+#include <stdlib.h>
+#include <vector>
+using std::string;
+
+
+//vector<string> filenames; //filenames are stored in a vector string
+
+vector<string> readFileNames(char *);
+int getFileNamesWithoutExt(string[], vector<string> &);
+string getPreviousLine(istream &);
+
+
+
+/******************************************************************************/
+/*** <readFileNames> ***/
+/******************************************************************************/
+// read file names into vector of strings
+vector<string> readFileNames(char *dir) {
+
+ vector<string> filenames;
+ DIR *dp;
+ struct dirent *dirp;
+ dp = opendir(dir);
+ //read all directory and file names in current directory into filename vector
+ while((dirp = readdir(dp)) != NULL) {
+ filenames.push_back(string(dirp->d_name));
+ }
+ closedir(dp);
+ return filenames;
+}
+
+
+
+/******************************************************************************/
+/*** <getFileNamesWithoutExt> ***/
+/******************************************************************************/
+ // save filename strings to array from vector using an iterator
+int getFileNamesWithoutExt(string fileNames[], vector<string> &filenames) {
+
+ //Cycle through all files listed in the directoy (strings in the vector list)
+ int n = 0;
+ for(vector<string>::iterator it=filenames.begin(); it < filenames.end(); it++)
+ {
+ //Convert the Vector found String to a char for use in the strtok function
+ char temp[50];
+ if((*it).size() < 100)
+ strcpy(temp, (*it).c_str());
+
+ // Retrieve the fileName and fileExtension by splitting the string
+ char *fileName;
+ char *fileExtension;
+ fileName = strtok(temp, ".");
+ fileExtension = strtok(NULL, ".");
+
+ // if the file is a .txt file, then save it to the array
+ if (strncmp(fileExtension,"txt", 3) == 0) {
+ fileNames[n] = fileName;
+ n++;
+ }
+ }
+
+ return n; //Return the number of txt files that were found in the directory
+}
+
+/******************************************************************************/
+/*** <getNextLine> ***/
+/******************************************************************************/
+//
+
+void getNextLine(FILE *selectedFile) {
+
+ char newLine[MAX_LINE_LENGTH];
+ fgets(newLine, MAX_LINE_LENGTH, selectedFile);
+
+ lineData.fullLine = newLine;
+ lineData.lineNumber++;
+
+ //Create a copy of the line, so that we don't effect the full line when we're extracting the words
+ char cpyLine[MAX_LINE_LENGTH];
+ strcpy(cpyLine, newLine);
+
+ char *tempWord;
+ int numWords = 0;
+ tempWord = strtok(cpyLine, " ");
+ while (tempWord != NULL){
+ strcpy(lineData.word[numWords], tempWord); //Record the word in the lineData array
+ numWords++; //add the number of words first, since we've already got one word, this helps for the way the while loop works too
+ tempWord = strtok(NULL, " ");
+ }
+
+ lineData.numWords = numWords; //Record the number of words in the line
+
+ lcd.setAddress(0,1);
+ lcd.printf("Current Line#: %d", lineData.lineNumber);
+ /*
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,0);
+ lcd.printf("wrd1: %s", lineData.word[0]);
+ lcd.setAddress(0,1);
+ lcd.printf("wrd2: %s", lineData.word[1]);
+ lcd.setAddress(0,2);
+ lcd.printf("wrd3: %s", lineData.word[2]);
+ lcd.setAddress(0,3);
+ lcd.printf("wrd4: %s", lineData.word[3]);
+ wait(5);*/
+}
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jason701802/code/TextLCD/#1c0232c55749
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VoltageDriver.cpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,107 @@
+//#include "VoltageDriver.hpp"
+//#include "mbed.h"
+//#include "LocalPinNames.h"
+//#include "BridgeDriver.h"
+//
+////Constructor
+//VoltageDriver::VoltageDriver(){
+//
+// //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+// if (lineData.numWords != 4){
+// //Error Check, incorrect number of parameter, error out
+// //return 0;
+// }
+//
+// char *channel = lineData.word[3]; //Parameter is a number
+// int channelValue = atoi(channel);
+//
+// //Channel Value between 1 to 8
+// if (channelValue >= 1 && channelValue <= 8){
+//
+// switch (channelValue){
+// case 1:
+// case 2:
+// bridges.enablePwm(BridgeDriver::MOTOR_A, 0);
+// break;
+// case 3:
+// case 4:
+// bridges.enablePwm(BridgeDriver::MOTOR_B, 0);
+// break;
+// case 5:
+// case 6:
+// bridges.enablePwm(BridgeDriver::MOTOR_C, 0);
+// break;
+// case 7:
+// case 8:
+// bridges.enablePwm(BridgeDriver::MOTOR_D, 0);
+// break;
+// }
+// }
+// else{
+// //ERROR Out
+// //Unacceptable channel, or conversion function failed when converting string to int
+// }
+//}
+//
+//
+//int VoltageDriver::getChannel(){
+// return this->channel;
+//}
+//
+//
+////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+//int VoltageDriver::interpret(){
+//
+// //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+// char *func = lineData.word[1];
+//
+// /******************************************************************************/
+// /*** <Func: forceBrake> ***/
+// /******************************************************************************/
+// if (strncmp(func,"forceBrake", 10) == 0){
+//
+// if (lineData.numWords != 3){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.forceBrake(this->channel);
+// }
+//
+//
+// /******************************************************************************/
+// /*** <Func: drive> ***/
+// /******************************************************************************/
+// else if (strncmp(func,"drive", 5) == 0){
+// //Order of Line: Local_Name, drive
+//
+// if (lineData.numWords != 2){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.drive(this->channel, 1); //Turn channel on
+//
+// }
+//
+//
+// /******************************************************************************/
+// /**** <Func: off> ****/
+// /******************************************************************************/
+// else if (strncmp(func,"drive", 5) == 0){
+// //Order of Line: Local_Name, drive, duration
+//
+// if (lineData.numWords != 2){
+// //Error Check, incorrect number of parameter, error out
+// return 0;
+// }
+//
+// bridges.drive(getChannel(), 0); //Turn channel off
+// }
+//
+// else {
+// return 0;
+// }
+//
+// return 1;
+//}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VoltageDriver.hpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,21 @@
+//#ifndef VOLTAGEDRIVER_HPP
+//#define VOLTAGEDRIVER_HPP
+//
+//#include "Device.hpp"
+//
+//class VoltageDriver: public Device{
+//
+// private:
+// int channel;
+//
+// public:
+// VoltageDriver();
+// int interpret();
+// int getChannel();
+// //void enableBrake();
+// //int forceBrake();
+// //int forceFloat();
+// //float drive();
+//};
+//
+//#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,401 @@
+
+#include "mbed.h"
+#include "LocalPinNames.h"
+#include "BridgeDriver.h"
+#include "FrontPanelButtons.h"
+#include "TextLCD.h"
+#include "SDFileSystem.h"
+#include "Initialization.hpp"
+//#include "DeviceClasses.h"
+#include "Device.hpp"
+//#include "Motor.hpp"
+//#include "VoltageDriver.hpp"
+#include "TextFile.h"
+#include <stdio.h>
+#include <string>
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <vector>
+using std::string;
+
+//const int MAX_LINE_LENGTH = 100;
+struct Line lineData;
+//Device devices[15];
+DeviceData devices[15];
+
+//extern "C" void mbed_reset(); //enable software reset of code
+/*
+http://stackoverflow.com/questions/3081289/how-to-read-a-line-from-a-text-file-in-c-c
+http://stackoverflow.com/questions/12475915/rewind-stream-pointer-to-the-line-back
+
+recurrsive
+*/
+
+void resetLineData(){
+
+ lineData.fullLine = NULL;
+ lineData.lineNumber = 0;
+ lineData.numWords = 0;
+}
+
+FrontPanelButtons buttons(&i2c);
+
+
+/*
+ Make LOOP function
+ - All you need to do is remember (val = ftell(fp)) the beginning of the line you're currently reading.
+ - If it turns out to be a LOOP call, then you simply send that remembered value to the LOOP function, and it will continue to LOOP back to that position until the condition is met.
+
+
+ func LOOP (FILE *fp, int loopStart){
+
+ string conditions;
+ fseek(fp, loopStart, SEEK_SET);
+ fgets(conditions, MAX_LINE_LENGTH, fp);
+
+ int numCycles = interpretLoopCondtions();
+
+ int i = 0;
+ int checkEndLoop = 0;
+ while (i < numCycles) {
+
+ checkEndLoop = interpretLine(fp); //if end Loop return ____ (1?), return 0 on success
+ if (checkEndLoop) //if it's not the end of the loop, the counter will not increase and we'll just interpret the next line
+ i++;
+ }
+ } //loop conditions met, return to main code
+
+
+ */
+
+
+
+int cyclePrograms(string files[], int SIZE, int currIndex, int direction){
+
+ int nextIndex = 0;
+ switch(direction){
+ case 0: //Cycle Back one File
+ if ((currIndex - 1) < 0)
+ nextIndex = SIZE - 1;
+ else
+ nextIndex = currIndex - 1;
+ break;
+ case 1: //Cycle Forward one File
+ if ((currIndex + 1) >= SIZE)
+ nextIndex = 0;
+ else
+ nextIndex = currIndex + 1;
+ break;
+ case -1: //set the selectedFile to the currIndex (used for initialization)
+ nextIndex = currIndex;
+ break;
+ }
+
+ //Output file on Display
+ lcd.setAddress(0,3);
+ lcd.printf(" "); // Clear the Line using Spaces (Emptyness) - Note one line is 20 Characters
+ wait(.2);
+ lcd.setAddress(0,3);
+ lcd.printf("%s",files[nextIndex]);
+
+ return nextIndex; // Return the file index in the Array
+}
+
+
+string* resize_StringArr(string oldArr[], int newSize) {
+
+ string newArr[newSize];
+ memcpy(newArr, oldArr, newSize * sizeof(string));
+
+ return newArr;
+}
+
+
+int main() {
+
+ fullInit(); //Initialize anything that's required to run the code (LCD)
+
+ /******************************************************************************/
+ /*** <Get all the Potential Programs> ***/
+ /******************************************************************************/
+ int numTextFiles = 0;
+ string tempTextFiles[25]; //Assuming Maximum of 25 txt files will be on the SD Card
+ lcd.cls(); //clear the display
+
+ vector<string> filenames = readFileNames("/sd");
+ numTextFiles = getFileNamesWithoutExt(tempTextFiles, filenames);
+ string *textFiles = resize_StringArr(tempTextFiles, numTextFiles); //Resize Array
+
+ //delete [] tempTextFiles; //free previous array
+
+
+ /******************************************************************************/
+ /*** <Select the Program txt File> ***/
+ /******************************************************************************/
+ int fileSelected = 0, selectedFileIndex = 0;
+
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,1);
+ lcd.printf("Select Your Program");
+ lcd.setAddress(0,2);
+ lcd.printf("Num Programs = %d", numTextFiles);
+
+ uint8_t lastButState;
+ lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on
+
+ selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, -1); //Initialize the first file to the screen
+ while(!fileSelected) {
+
+ uint8_t curButState = buttons.readBus();
+ if(curButState != lastButState){
+ lastButState = curButState;
+ if(buttons.readRight())
+ selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, 1);
+ else if(buttons.readLeft())
+ selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, 0);
+ else if(buttons.readSel())
+ fileSelected = 1;
+ }
+ }
+
+ char selectedFileName[50];
+ strcpy(selectedFileName, textFiles[selectedFileIndex].c_str());
+
+ /******************************************************************************/
+ /*** <Open the Program txt File> ***/
+ /******************************************************************************/
+
+ //Create the string of the full directory and path to the program txt file
+ char selectedFileFullName[100] = "/sd/"; //Assuming that no directory and file name will be longer than 100 characters
+ strcat(selectedFileFullName, selectedFileName);
+ strcat(selectedFileFullName, ".txt");
+
+ FILE *selectedFile = fopen(selectedFileFullName, "r");
+ lcd.cls(); //clear the display
+
+ if(selectedFile == NULL) {
+ lcd.setAddress(0,0);
+ lcd.printf("Invalid");
+ wait(10);
+ }
+
+
+ while(1){
+
+ resetLineData();
+
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,0);
+ lcd.printf("Program: %s", selectedFileName);
+
+
+ /******************************************************************************/
+ /*** <Start Running through the Program txt File Lines> ***/
+ /******************************************************************************/
+
+ int endOfFile = 0;
+
+ while (!endOfFile){
+
+ getNextLine(selectedFile);
+
+ if (strncmp(lineData.word[0],"device", 6) == 0){
+
+ int i = 0, deviceFound = -1;
+ for (i = 0; i < numDevices; i++)
+ if (strncmp(lineData.word[2], DeviceNames[i], strlen(DeviceNames[i])) == 0)
+ deviceFound = i;
+
+ //if the device type does not match any known type, error out
+ if (deviceFound == -1){
+ //Error Out since the device Name was not matched with anything *************************
+ }
+
+ //Add device to the array of devices and initialize it
+ else
+ addDevice(deviceFound);
+ }
+
+ else if (strncmp(lineData.word[0],"delay", 5) == 0){
+ char *duration = lineData.word[1];
+ int durationValue = atoi(duration);
+
+ if (durationValue){
+ timer.reset();
+ timer.start();
+ while (timer.read_ms() < durationValue); //Do Nothing while the timer has not reached the duration
+ timer.stop(); //Stop the Timer
+ }
+ else{
+ //Error Out
+ }
+ }
+
+ else if (strncmp(lineData.word[0],"loop", 4) == 0){
+ //Do something for looping
+ }
+
+ else if (strncmp(lineData.word[0],"end", 3) == 0){
+ if (strncmp(lineData.word[1],"program", 7) == 0)
+ endOfFile = 1;
+ }
+
+ //not a keyword so check if it's a localName for a device
+ else{
+
+ int i = 0, deviceFound = -1;
+ for (i = 0; i < currNumDevices; i++){
+ if (strncmp(lineData.word[0], devices[i].name, strlen(devices[i].name)) == 0)
+ deviceFound = i;
+ }
+
+ //no device was found that matched the local name, and this is also the last error check, meaning it can match no other potential keywords
+ if (deviceFound == -1){
+ lcd.setAddress(0,3);
+ lcd.printf("Final ERROR!");
+ wait(10);
+ }
+
+ //Local Name matches a device, send line to that device in order to process the functionality
+ else
+ addDevice(deviceFound);//devices[deviceFound].interpret();
+ }
+ }
+
+
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,0);
+ lcd.printf("END OF PROGRAM");
+ lcd.setAddress(0,2);
+ lcd.printf("To Restart...");
+ lcd.setAddress(0,3);
+ lcd.printf("Press BACK");
+
+ while(!buttons.readBack());
+
+ lcd.setAddress(0,1);
+ rewind(selectedFile);
+ }
+
+
+ /***** Cycle through txt lines and remember last lines ******/
+ /*
+ int running = 0, selectedFile = 0;
+ int locCount = 0, tempSpot = 0;
+ int loc[4];
+ char line[32];
+ uint8_t lastButState;
+
+
+ while(1){
+ lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on
+ while(!running) {
+ uint8_t curButState = buttons.readBus();
+
+ if(curButState != lastButState){
+ switch(lastButState = curButState){
+ case 0x1F: //right
+
+ loc[locCount] = ftell(fp);
+
+ if (locCount >= 3)
+ locCount = 0;
+ else
+ locCount++;
+
+ //tempSpot = ftell(fp);
+ fgets(line, 32, fp);
+
+ lcd.setAddress(0,1);
+ lcd.printf("L: %s", line);
+ wait(0.2);
+ break;
+ case 0x2F: //left
+
+ if (locCount == 0) {
+ locCount = 3;
+ fseek(fp, loc[locCount], SEEK_SET);
+ }
+ else {
+ fseek(fp, loc[locCount - 1], SEEK_SET);
+ locCount--;
+ }
+ fgets(line, 32, fp);
+ lcd.setAddress(0,1);
+ lcd.printf("L: %s", line);
+ wait(0.2);
+ break;
+ }
+ }
+ }
+ }
+ */
+
+
+
+
+
+ /******* Select the Program txt File ***********/
+ /*
+ int numTextFiles = 0;
+ string tempTextFiles[25]; //Assuming Maximum of 25 txt files will be on the SD Card
+ lcd.cls(); //clear the display
+ readFileNames("/sd");
+ numTextFiles = getFileNamesWithoutExt(tempTextFiles);
+
+ string *textFiles = resize_StringArr(tempTextFiles, numTextFiles); //Resize Array
+ //delete [] tempTextFiles; //free previous array
+
+
+ int running = 0, selectedFile = 0;
+
+ lcd.cls(); //clear the display
+ lcd.setAddress(0,1);
+ lcd.printf("Select Your Program");
+ lcd.setAddress(0,2);
+ lcd.printf("Num Programs = %d", numTextFiles);
+
+ uint8_t lastButState;
+ while(1){
+ lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on
+ while(!running) {
+ uint8_t curButState = buttons.readBus();
+
+ if(curButState != lastButState){
+ switch(lastButState = curButState){
+ case 0x1F: //right
+ selectedFile = cyclePrograms(textFiles, numTextFiles, selectedFile, 1);
+ break;
+ case 0x2F: //left
+ selectedFile = cyclePrograms(textFiles, numTextFiles, selectedFile, 0);
+ break;
+ }
+ }
+ }
+ }
+
+ */
+
+
+
+
+ }
+
+
+
+
+
+
+
+
+
+ /*float speed = 0.5;
+ while(1){
+ bridges.drive(1, -1*speed);
+ wait(2);
+ bridges.drive(1, speed);
+ wait(2);
+ }*/
+
+//BridgeDriver::MOTOR_A
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Sep 16 15:28:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013 \ No newline at end of file